CN113213415B

CN113213415B - Automatic oil gun arranged under unmanned helicopter

Info

Publication number: CN113213415B
Application number: CN202110118521.7A
Authority: CN
Inventors: 樊阳; 王雷军; 张仁鹏; 黄瑞娟; 徐东成
Original assignee: Jiangyin Furen High Tech Co Ltd
Current assignee: Jiangyin Furen High Tech Co Ltd
Priority date: 2021-01-28
Filing date: 2021-01-28
Publication date: 2022-11-11
Anticipated expiration: 2041-01-28
Also published as: CN113213415A

Abstract

The invention discloses an automatic oil gun arranged under an unmanned helicopter, which comprises a helicopter wing assembly, wherein a helicopter undercarriage is arranged under the wing assembly, an oil gun driving frame is arranged in the helicopter undercarriage, a bottom plate is arranged under the oil gun driving frame, a lifting driving mechanism is arranged at the upper part of the bottom plate, a lifting part in the lifting driving mechanism is connected with a lifting platform, a rotary driving mechanism is arranged on the lifting platform, a rotary disc is arranged on the rotary driving mechanism, a transverse driving mechanism is arranged on the rotary disc, a transverse moving part is arranged in the transverse driving mechanism, an oil gun swinging driving part and an oil tank cover switch driving part are arranged on the transverse moving part, an oil gun clamping part is connected onto the oil gun swinging driving part, a battery and an oil tank position detecting device which are respectively connected with a controller are arranged on the bottom plate, and the controller is also respectively and electrically connected with a helicopter driving servo motor and driving parts in each driving mechanism. The oil gun has the characteristics of high automation degree of vehicle oiling, simple structure and the like.

Description

Automatic oil gun arranged under unmanned helicopter

Technical Field

The invention relates to the technical field of automobile automatic oiling equipment, in particular to an automatic oiling gun arranged under an unmanned helicopter.

Background

As the number of vehicles increases, the amount of fuel for vehicles is increasing. For many gas stations with large traffic flow, the phenomenon of queuing for refueling is very common, and particularly for high-speed trunk roads and other major roads, the phenomenon of queuing for refueling seriously affects the traveling of people, and passenger transportation and freight transportation are greatly affected. In the face of manual refueling, the filling station needs to queue for refueling, and meanwhile, cash settlement faces the phenomena of change making, cash safety, queuing and payment and the like, so that the working efficiency of the gas station is improved, the refueling speed is accelerated, and the filling station is imperative.

To address this problem, some service stations have sampled self-service refueling systems. Although the problem of waiting in line for refueling is solved to a certain extent by the existing self-service refueling system, the problems of low payment efficiency and incapability of fundamentally improving the refueling speed still exist. The existing self-service refueling system has two types: one is a self-service fueling system that uses cash to conduct transactions, such systems are not identifiable for most worn cash, and the cash identification system identification process takes some time. The other type is a self-service refueling system using a refueling card with pre-stored value, in the system, the refueling card accounts for most parts without being named after one-time quota, recharging cannot be performed, and the refueling card with the pre-stored value needs to purchase and store cash at fixed points. In conclusion, the existing self-service refueling system is low in efficiency.

The existing refueling mode is that a fuel tank cap is unlocked through central control, then the fuel tank cap is manually pressed, the fuel tank cap is opened, then a fuel tank plug is manually unscrewed for refueling, the refueling is carried out after the refueling amount is determined manually, then the charging is carried out, then the fuel tank plug is manually screwed, the fuel tank cap is covered, and the refueling is completed. The mode is general, ordinary, and market share is high, but relies on manual operation, and is inefficient, produces easily when the flow is big and blocks up, along with internet and automatic rapid development, is eliminated easily. In conclusion, there is a need for an automatic refueling system for vehicles, which is convenient for self-service refueling and payment and improves refueling efficiency.

The application numbers are: chinese patent CN201610645550.8 discloses an automatic vehicle refueling system, wherein an electronic control unit is connected with a refueling server and a third-party platform through a network; the liquid crystal display is used for selecting oil product information and carrying out online payment; the fuel tank cap switching device comprises a driving motor and a revolute pair and is used for driving the fuel tank cap to be opened and closed, a fuel tank plug is arranged on the inner side of the fuel tank cap and is used for pressing a fuel tank opening of a vehicle fuel tank, and a distance measuring receiving transmitter is arranged beside the fuel tank opening; the oiling robot is a mechanical arm which extends in space, and the bottom of the mechanical arm moves on a plane; the refueling robot is provided with a distance measuring transmitter and a distance measuring receiver close to the refueling gun; and the controller is used for receiving signals of the ranging receiving transmitter, the ranging receiver and the liquid level alarm, controlling the ranging transmitter and the oil gun, and receiving the signals of the ranging transmitter by the ranging receiving transmitter. However, the technical solution of the fueling robot is not provided in the technical document disclosed in the patent, however, the fueling robot is a very complicated mechanical control system, and the cost is high, and there is a safety hazard.

The application numbers are: CN201910490133.4, a chinese patent discloses an automatic fuel gun connected to a fuel charger, which includes a ceiling arranged above a fuel station, a fuel gun traveling frame and a monitoring camera are hung below the ceiling, a fuel gun, a voice prompter, a fuel filler port identification camera and a fuel gun transverse driver are hung below the fuel gun traveling frame; the ground of filling station is provided with pressure sensor, and the nozzle is connected with the tanker aircraft, and the tanker aircraft is connected with the controller, and the storage module of controller has all kinds of motorcycle type fuel tank oil filler hole positional information in. The method comprises the steps of hoisting a refueling gun on a refueling gun traveling frame, starting a controller connected with the refueling machine, monitoring image information sent by a camera and wheel position information collected by a pressure sensor arranged on the ground of a gas station, sending a driving instruction by the controller according to vehicle type information stored in a memory, controlling the movement of the refueling gun traveling frame, moving the refueling gun to the position of a fuel tank port of a vehicle, and returning the refueling gun to the original position after refueling. The fuel filler pipe of the fuel filler is hung on the top nozzle, the fuel filler pipe is long in pipeline, the driving structure of the fuel gun is complex, and the fuel gun is aligned to the fuel tank port of the vehicle, so that the accuracy of the fuel gun aligning to the fuel tank port of the vehicle is improved, and the structure of the fuel filler pipe is required to be improved.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides the automatic oiling gun arranged under the unmanned helicopter, which has the advantages of high vehicle oiling automation degree, high oiling operation accuracy, high flexibility, small and exquisite automatic oiling equipment, good safety performance and simple structure.

In order to achieve the purpose, the technical scheme of the invention is to provide an automatic oil gun arranged under an unmanned helicopter, the unmanned helicopter comprises a helicopter wing assembly, a helicopter undercarriage is arranged under the wing assembly, an oil gun driving frame is arranged in the helicopter undercarriage, a bottom plate is arranged under the oil gun driving frame, a lifting driving mechanism is arranged on the upper portion of the bottom plate, a lifting part in the lifting driving mechanism is connected with a lifting platform, a rotary driving mechanism is arranged on the lifting platform, a rotary disc is arranged on the rotary driving mechanism, a transverse driving mechanism is arranged on the rotary disc, a transverse moving part is arranged in the transverse driving mechanism, an oil gun swinging driving part and an oil tank cover switch driving part are arranged on the transverse moving part, an oil gun clamping part is connected on the oil gun swinging driving part, a battery and an oil tank position detecting device which are respectively connected with a controller are arranged on the bottom plate, and the controller is also respectively electrically connected with a helicopter driving servo motor and the driving parts in each driving mechanism.

In order to facilitate stable, safe and flexible taking off and landing of the unmanned helicopter, the preferable technical scheme is that the helicopter driving servo motor is provided with 4 parts which are respectively arranged on 4 wings, the 4 wings are connected with a helicopter undercarriage through a wing connecting frame, the helicopter undercarriage is of a U-shaped frame structure, and casters are arranged at the bottom of the frame.

In order to facilitate the refueling gun to refuel different vehicles and enable the refueling gun to be suitable for different fuel tank heights of different vehicles, the preferred technical scheme is that the lifting driving mechanism is a screw nut lifting mechanism which comprises a lifting driving servo motor connected with the upper surface of the bottom plate, the lifting driving servo motor is connected with one end of a lifting driving screw rod, the lifting driving screw rod is in threaded fit with the lifting driving nut, a lifting slider is arranged on one side of the lifting driving nut and is in sliding fit with a guide groove of a lifting guide part arranged on the upper surface of the bottom plate, a cantilever type lifting table is arranged on the other side of the lifting driving nut, and the other end of the lifting driving screw rod is connected with the lifting guide part through a supporting part.

In order to facilitate the control of the oil gun, the oil gun extends out of the oil gun driving frame when the oil gun is required to be used for oiling the vehicle, the oil gun is recycled into the oil gun driving frame when the oil gun is not required to be used for oiling the vehicle, so that other vehicles and the oil gun cannot be damaged due to collision.

In order to facilitate the insertion of the refueling gun into an oil tank of a refueled vehicle after a refueling gun driving frame is close to the refueled vehicle, the preferred technical scheme is that the transverse driving mechanism is a transverse lead screw nut driving mechanism which comprises a transverse driving servo motor arranged on a turntable, an output shaft of the transverse driving servo motor is connected with one end of a transverse driving lead screw, the other end of the transverse driving lead screw is connected onto the turntable through a bracket, the transverse driving lead screw is in threaded fit with the transverse driving nut, a transverse guide groove sliding block is arranged below the transverse driving nut and is in sliding fit with a transverse guide groove sliding groove arranged on the turntable, a transverse moving part is arranged above the transverse driving nut, and the transverse moving part is a supporting plate.

In order to facilitate the insertion of the oil gun into the oil tank of the vehicle to be refueled after the oil gun driving frame is close to the vehicle to be refueled, the preferred technical scheme is that the oil gun swinging driving part comprises an oil gun driving servo motor which is arranged on a transverse moving part and drives the oil gun to swing up and down, an output shaft of the oil gun driving servo motor is connected with an oil gun clamping part, the oil gun clamping part is used for clamping and fixing the oil gun, and the oil gun clamping part is of a triangular supporting frame structure or a triangular clamping sleeve type clamping structure.

In order to facilitate that an oil tank door of a vehicle to be refueled is opened to refuel after an oil gun driving frame is close to the vehicle to be refueled, and the oil tank door is closed well after refueling, the preferable technical scheme is that the oil tank cover switch driving part comprises a transverse ejector rod driving servo motor which is arranged on a rotary table and drives a transverse ejector rod to swing left and right, an output shaft of the transverse ejector rod driving servo motor is connected with the transverse ejector rod which is vertically connected with the output shaft, the transverse ejector rod is divided into a rigid section and an elastic flexible section, one end of the rigid section is connected with the output shaft of the transverse ejector rod driving servo motor, the other end of the rigid section is connected with one end of the elastic flexible section, and the other end of the elastic flexible section is provided with a rubber mushroom head.

In order to facilitate the simplification of a driving mechanism for inserting the oil gun into the oil tank and a driving mechanism for opening and closing the oil tank door, the two driving mechanisms are arranged on the same transverse moving part, the preferable technical scheme is that the oil gun swinging driving part and the oil tank cover switch driving part are respectively arranged at two positions on the transverse moving part, and the swinging surface direction of the oil gun swinging driving part and the oil tank cover switch driving part drive the accelerator switch direction to form an included angle of 60-180 degrees.

In order to facilitate the monitoring of the position of the refueled vehicle and the position of the oil tank, and facilitate the accurate and comprehensive monitoring of the position of the refueled vehicle and the position of the oil tank, the further preferred technical scheme is that the lifting guide part is a guide plate or a guide frame, an oil tank position detection device is arranged on the guide plate or the guide frame, the oil tank position detection device comprises a laser range finder or a radar speed and distance measuring instrument, an optical camera and a far infrared probe, and a voice prompt and an alarm are arranged on the guide plate or the guide frame.

In order to ensure the use safety of the oil gun, improve the oil filling efficiency of the oil gun and simplify the controller, the preferable technical proposal is that three side surfaces of the oil gun driving frame on the bottom plate are respectively provided with a transparent cover shell, and an oil filling pipe of the oil gun is connected with the oil gun through the side surface of the transparent cover shell or the bottom plate; the battery and the controller are arranged on the bottom plate in the transparent housing, the controller is a PLC (programmable logic controller) or an industrial computer, the controller is also connected with a display, and the display is hung and mounted below the top of the driving frame of the oil gun; the oil filling pipe of the oil filling gun is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.

The invention has the advantages and beneficial effects that: this set up automatic oiling rifle under unmanned helicopter has that the vehicle refuels degree of automation height, refuels operating accuracy height, flexibility ratio height, and automatic oiling equipment is small and exquisite, the security performance is good, characteristics such as simple structure.

When the refueled vehicle drives into the gas station, the vehicle fuel tank position detecting device under the unmanned helicopter can judge the distance between the refueled vehicle and the unmanned helicopter and the position of the fuel tank door of the refueled vehicle. At the moment, the unmanned helicopter with the oiling gun drags the oiling pipe to fly to a position parallel to and close to the fueled vehicle and descends at one side of an oil tank of the fueled vehicle, and then the unmanned helicopter with the oiling gun can control the oiling gun to perform a full-automatic operation process for refueling the fueled vehicle through a controller arranged on a bottom plate by a lifting driving mechanism, a rotary driving mechanism arranged on a lifting platform, a rotary disc arranged on the rotary driving mechanism, a transverse driving mechanism arranged on the rotary disc, a transverse moving part in the transverse driving mechanism, an oiling gun swinging driving part and an oil tank cover switch driving part on the transverse moving part and an oiling gun clamping part connected to the oiling gun swinging driving part.

Drawings

FIG. 1 is a schematic view of the main structure of an automatic fuel gun according to the present invention;

FIG. 2 is a schematic side view of the structure of FIG. 1;

FIG. 3 is a diagram of the fueling state of FIG. 2;

FIG. 4 is a diagram of the fueling state of FIG. 2;

FIG. 5 is a diagram of the open throttle condition of FIG. 2;

fig. 6 is a diagram of the open throttle condition of fig. 2.

In the figure: 1. a wing assembly; 1.1, driving a servo motor by the helicopter; 1.2, connecting a wing with a frame; 2. a landing gear; 2.1, a caster; 3. a fuel gun drive frame; 4. a base plate; 5. a lifting drive mechanism; 5.1, driving a servo motor in a lifting way; 5.2, lifting a driving screw rod; 5.3, lifting the driving nut; 5.4, lifting the sliding block; 6. a lifting platform; 7. a rotation driving mechanism; 7.1, rotationally driving a servo motor; 8. a turntable; 8.1, a transverse guide chute; 9. a lateral drive mechanism; 9.1, transversely driving a servo motor; 9.2, transversely driving a screw rod; 9.3, transversely driving the nut; 9.4, a transverse guide groove slide block; 10. a lateral moving member; 11. an oil gun swing drive part; 11.1, driving a servo motor by swinging a refueling gun; 12. a fuel tank cap switch drive member; 12.1, a transverse ejector rod; 12.11, a rigid section; 12.12, a flexible section; 12.2, driving a servo motor by a transverse ejector rod; 12.3, rubber mushroom heads; 13. a fuel gun clamping component; 14. a controller; 14.1, a display; 15. a battery; 16. a fuel tank position detecting device; 17. a lifting guide member; 17.1, sliding the guide groove; 18. a transparent cover shell; A. an unmanned helicopter; B. a fuel nozzle.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1 to 6, the present invention is an automatic fueling gun disposed under an unmanned helicopter, where an unmanned helicopter a includes a helicopter wing assembly 1, a helicopter undercarriage 2 is disposed under the wing assembly 1, a fueling gun driving frame 3 is disposed in the helicopter undercarriage 2, a bottom plate 4 is disposed under the fueling gun driving frame 3, a lifting driving mechanism 5 is disposed on an upper portion of the bottom plate 4, a lifting part in the lifting driving mechanism 5 is connected to a lifting platform 6, a rotary driving mechanism 7 is disposed on the lifting platform 6, a rotary disk 8 is disposed on the rotary driving mechanism 7, a transverse driving mechanism 9 is disposed on the rotary disk 8, a transverse moving part 10 is disposed in the transverse driving mechanism 9, a fueling gun swing driving part 11 and an oil tank cover switch driving part 12 are disposed on the transverse moving part 10, a fueling gun clamping part 13 is connected to the fueling gun swing driving part 11, a battery 15 and an oil tank position detecting device 16 are disposed on the bottom plate 4, the battery 15 and the oil tank position detecting device 16 are respectively connected to a controller 14, and the controller 14 is electrically connected to a helicopter driving servo motor 1.1 and driving part in each driving mechanism.

In order to facilitate the stable, safe and flexible operation of the unmanned helicopter, the preferred embodiment of the invention is that 4 parts of the helicopter driving servo motor 1.1 are respectively arranged on 4 wings, the 4 wings are connected with a helicopter undercarriage 2 through wing connecting frames 1.2, the helicopter undercarriage 2 is in a U-shaped frame structure, and casters 2.1 are arranged at the bottom of the frame.

In order to facilitate the refueling gun B to refuel different vehicles and adapt to different fuel tank heights of different vehicles, in a preferred embodiment of the present invention, the lifting driving mechanism 5 is a lead screw nut lifting mechanism, the lead screw nut lifting mechanism includes a lifting driving servo motor 5.1 connected to the upper surface of the bottom plate 1, the lifting driving servo motor 5.1 is connected to one end of a lifting driving lead screw 5.2, the lifting driving lead screw 5.2 is in threaded fit with the lifting driving nut 5.3, a lifting slider 5.4 is disposed on one side of the lifting driving nut 5.3, the lifting slider 5.4 is in sliding fit with a guide groove 17.1 of a lifting guide member 17 disposed on the bottom plate 1, a cantilever type lifting table 6 is disposed on the other side of the lifting driving nut 5.3, and the other end of the lifting driving lead screw 5.2 is connected to the lifting guide member 17 through a support member.

In order to facilitate the control of the oil gun B to extend out of the oil gun driving frame 3 when the oil gun B needs to refuel a vehicle, and to recycle the oil gun into the oil gun driving frame 3 when the oil gun B does not need to refuel the vehicle, so that the oil gun can not damage other vehicles and the oil gun due to collision.

In order to facilitate the insertion of the refueling gun B into the oil tank of the vehicle to be refueled after the refueling gun driving frame 3 approaches the vehicle to be refueled, in a preferred embodiment of the present invention, the lateral driving mechanism 9 is a lateral lead screw nut driving mechanism, the lateral lead screw nut driving mechanism includes a lateral driving servo motor 9.1 mounted on the turntable 8, an output shaft of the lateral driving servo motor 9.1 is connected with one end of a lateral driving lead screw 9.2, the other end of the lateral driving lead screw 9.2 is connected to the turntable 8 through a bracket, the lateral driving lead screw 9.2 is in threaded fit with the lateral driving nut 9.3, a lateral guiding groove slider 9.4 is arranged below the lateral driving nut 9.3, the lateral guiding groove slider 9.4 is in sliding fit with a lateral guiding sliding groove 8.1 arranged on the turntable 8, a lateral moving part 10 is arranged above the lateral driving nut 9.3, and the lateral moving part 10 is a supporting plate.

In order to facilitate the insertion of the fueling gun B into the fuel tank of the vehicle to be fueled after the fueling gun driving frame 3 approaches the vehicle to be fueled, in a preferred embodiment of the present invention, the fueling gun swing driving part 11 includes a fueling gun swing driving servo motor 11.1 arranged on the lateral moving part 10 and driving the fueling gun B to swing up and down, an output shaft of the fueling gun swing driving servo motor 11 is connected with a fueling gun clamping part 13, the fueling gun clamping part 13 is used for clamping and fixing the fueling gun B, and the fueling gun clamping part 13 is a triangular supporting frame structure or a triangular clamping sleeve type clamping structure.

In order to facilitate the refueling of the tank door of the refueled vehicle after the refueling gun driving frame 3 approaches the refueled vehicle and to close the tank door after refueling, the preferred embodiment of the invention further provides that the tank cap switch driving part 12 comprises a transverse ejector rod driving servo motor 12.2 which is arranged on the turntable 8 and drives a transverse ejector rod 12.1 to swing left and right, the output shaft of the transverse ejector rod driving servo motor 12.2 is connected with the transverse ejector rod 12.1 which is vertically connected with the output shaft, the transverse ejector rod 12.1 is divided into a rigid section 12.11 and an elastic flexible section 12.12, one end of the rigid section 12.11 is connected with the output shaft of the transverse ejector rod driving servo motor 12.2, the other end of the rigid section 12.11 is connected with one end of the elastic flexible section 12.12, and the other end of the elastic flexible section 12.12 is provided with a rubber mushroom head 12.3.

In order to simplify the driving mechanism for inserting the fuel nozzle B into the fuel tank and the driving mechanism for opening and closing the fuel tank door, the two driving mechanisms are mounted on the same transverse moving member 10, and in a preferred embodiment of the present invention, the fuel nozzle swing driving member 11 and the fuel tank cover switch driving member 12 are respectively mounted at two locations on the transverse moving member 10, and the direction of the swing surface of the fuel nozzle swing driving member 11 and the direction of the fuel tank cover switch driving member 12 driving the fuel tank switch form an angle of 60 ° to 180 °, preferably 90 °.

In order to facilitate the monitoring of the position of the refueled vehicle and the position of the fuel tank and facilitate the accurate and comprehensive monitoring of the position of the refueled vehicle and the position of the fuel tank, a further preferred embodiment of the present invention is that the lifting guide part 17 is a guide plate or a guide frame, the guide plate 17 or the guide frame is provided with a fuel tank position detection device 16, the fuel tank position detection device 16 comprises a laser range finder or a radar speed and distance measuring instrument, an optical camera and a far infrared probe, and the guide plate or the guide frame is provided with a voice prompt and an alarm (not shown in the figure).

In order to ensure the use safety of the oil gun B, improve the oil filling efficiency of the oil gun B and simplify the controller, the preferred embodiment of the invention is that three sides of the oil gun driving frame 3 above the bottom plate 4 are respectively provided with a transparent cover shell 18, and an oil filling pipe of the oil gun B is connected with the oil gun B through the side surface of the transparent cover shell 18 or the bottom plate 4; the battery 15 and the controller 14 are arranged on the bottom plate 1 in the transparent housing 18, the controller 14 is a PLC (programmable logic controller) or an industrial computer, the controller 14 is also connected with a display 14.1, and the display 14.1 is hung and installed below the top of the oil gun driving frame 3; the oil filling pipe of the oil filling gun B is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.

The working principle of the automatic oil gun arranged under the unmanned helicopter is as follows:

after the refueled vehicle drives into the gas station, the distance, the direction and the head orientation of the refueled vehicle from the unmanned helicopter A and the position of the fuel tank door of the refueled vehicle can be judged by a laser range finder or a radar speed measuring range finder, an optical camera, a far infrared probe and the like in the vehicle fuel tank position detecting device 16 on the unmanned helicopter A. At the moment, the unmanned helicopter A with the fuel gun B drags the fuel filler pipe to take off and fly to a position which is parallel to and approximately aligned with the fueled vehicle, and is positioned at one side of the fuel tank of the fueled vehicle to land and stop, then the height of the fuel gun B on the lifting platform 6 is adjusted to a position which is consistent with the height of the fuel tank of the fueled vehicle through the lifting driving mechanism 5, the lifting platform 6 is provided with the rotary driving mechanism 7, the rotary disc 8 on the rotary driving mechanism 7, the rotary driving mechanism 7 firstly rotates the rotary disc 8 to the direction that the fuel tank cover switch driving part 12 is aligned with the fuel tank of the fueled vehicle, then the transverse moving part 10 in the transverse driving mechanism 9 drives the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1 in the fuel tank cover switch driving part 12 to press against the fuel tank cover to open the fuel tank cover, then the transverse moving part 10 in the transverse driving mechanism 9 drives the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector 12.1 in the oil tank cover switch driving part 12 to retreat for a certain distance, and the unmanned helicopter also longitudinally and backwards slightly moves for a certain distance, so that the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector 12.1 in the oil tank cover switch driving part 12 moves to one side of the opened oil tank cover, then the transverse ejector driving servo motor 12.2 for driving the transverse ejector 12.1 to swing left and right starts, the oil tank cover is completely rotated and opened by the swinging of the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector 12.1, the transverse moving part 10 drives the oil tank cover switch driving part 12 to retreat again, the rotary table 8 rotates for 90 degrees to align the oil tank gun at the oil port, the transverse moving part 10 moves forwards and the oil gun swinging driving part 11 drives the oil gun to swing downwards, the oil gun is inserted into the oil tank and starts, after the refueling is finished, the combined movement is in the opposite direction, namely the refueling gun leaves a refueling port of the mailbox. The rotating disc 8 rotates reversely by 90 degrees, the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the driving transverse ejector rod 12.1 in the driving oil tank cover switch driving part 12 is aligned with an oil tank opening again, meanwhile, the unmanned helicopter also slightly moves forwards longitudinally by a certain distance, the transverse moving part 10 moves forwards, the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the driving transverse ejector rod 12.1 in the driving oil tank cover switch driving part 12 is driven to move forwards by a certain distance, then the transverse ejector rod driving servo motor 12.2 which drives the transverse ejector rod 12.1 to swing left and right drives the servo motor 12.2 to start, the oil tank cover is rotated to a closing position through the swing of the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1, and finally the transverse moving part 10 moves forwards again to drive the rubber mushroom head 12.3 on the flexible section 12.12 at one end of the transverse ejector rod 12.1 to press the oil tank cover again to finally close the oil tank cover. The unmanned aerial vehicle which is oiled by the oiled vehicle takes off again and flies back to the initial position for standby. The above-mentioned refueling process is controlled by the controller 14 to complete the whole refueling process fully automatically through the control program.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides an automatic nozzle of setting under unmanned helicopter, a serial communication port, unmanned helicopter includes helicopter wing subassembly, the wing subassembly has the helicopter undercarriage, be equipped with nozzle drive frame in the helicopter undercarriage, be equipped with the bottom plate below the nozzle drive frame, upper portion at the bottom plate is equipped with lift actuating mechanism, the lift part among the lift actuating mechanism is connected with the elevating platform, be equipped with rotary driving mechanism on the elevating platform, be equipped with the carousel on the rotary driving mechanism, be equipped with transverse driving mechanism on the carousel, be equipped with the lateral shifting part among the transverse driving mechanism, be equipped with nozzle swing actuating part and fuel tank cap switch actuating part on the lateral shifting part, be connected with the nozzle on the nozzle swing actuating part and clamp the part, be equipped with battery and the oil tank position detection device that are connected with the controller respectively on the bottom plate, the controller still is connected with the drive part electricity among helicopter drive servo motor and each actuating mechanism respectively.

2. The automatic fuel gun under the unmanned helicopter of claim 1, wherein the helicopter driving servo motor has 4 parts respectively arranged on 4 wings, the 4 wings are connected with the helicopter landing gear through a wing connecting frame, the helicopter landing gear is in a U-shaped frame structure, and the bottom of the frame is provided with casters.

3. The automatic fuel filling gun arranged under the unmanned helicopter according to claim 1, wherein the elevation driving mechanism is a screw nut elevation mechanism, the screw nut elevation mechanism comprises an elevation driving servo motor connected with the upper surface of the bottom plate, the elevation driving servo motor is connected with one end of an elevation driving screw rod, the elevation driving screw rod is in threaded fit with the elevation driving nut, one side of the elevation driving nut is provided with an elevation slider, the elevation slider is in sliding fit with a guide groove of an elevation guide part arranged on the upper surface of the bottom plate, the other side of the elevation driving nut is provided with a cantilever type elevating platform, and the other end of the elevation driving screw rod is connected with the elevation guide part through a supporting part.

4. The automatic fuel gun as claimed in claim 1, wherein the rotary drive mechanism comprises a rotary drive servomotor connected to the elevating platform, and an output shaft of the rotary drive servomotor is connected to the turntable via a flange.

5. The automatic fuel gun as claimed in claim 1, wherein the lateral driving mechanism is a lateral screw nut driving mechanism, the lateral screw nut driving mechanism includes a lateral driving servo motor mounted on a turntable, an output shaft of the lateral driving servo motor is connected to one end of a lateral driving screw rod, the other end of the lateral driving screw rod is connected to the turntable through a bracket, the lateral driving screw rod is in threaded fit with the lateral driving nut, a lateral guide groove slider is disposed below the lateral driving nut, the lateral guide groove slider is in sliding fit with a lateral guide groove sliding groove disposed on the turntable, a lateral moving member is disposed above the lateral driving nut, and the lateral moving member is a supporting plate.

6. The automatic fuel gun arranged under the unmanned helicopter according to claim 1, wherein the fuel gun swing driving part comprises a fuel gun driving servo motor arranged on the lateral moving part and driving the fuel gun to swing up and down, a fuel gun clamping part is connected to an output shaft of the fuel gun driving servo motor and used for clamping and fixing the fuel gun, and the fuel gun clamping part is of a triangular support frame structure or a triangular clamping sleeve type clamping structure.

7. The automatic fuel gun under the unmanned helicopter of claim 1, wherein the fuel tank cap switch driving part comprises a transverse push rod driving servo motor installed on the turntable for driving the transverse push rod to swing left and right, the output shaft of the transverse push rod driving servo motor is connected with a transverse push rod vertically connected with the output shaft, the transverse push rod is divided into a rigid section and an elastic flexible section, one end of the rigid section is connected with the output shaft of the transverse push rod driving servo motor, the other end of the rigid section is connected with one end of the elastic flexible section, and the other end of the elastic flexible section is provided with a rubber mushroom head.

8. The automatic fueling gun under an unmanned helicopter of claim 1, wherein the fueling gun swing drive section and the tank cap switch drive section are mounted at two locations on the lateral movement section, respectively, and the direction of the swing surface of the fueling gun swing drive section and the direction of the throttle switch driven by the tank cap switch drive section form an angle of 60 ° to 180 °.

9. The automatic fuel gun arranged under the unmanned helicopter according to claim 3, wherein the lifting guide component is a guide plate or a guide frame, a fuel tank position detecting device is arranged on the guide plate or the guide frame, the fuel tank position detecting device comprises a laser range finder or a radar speed measuring range finder, an optical camera and a far infrared probe, and a voice prompt and an alarm are arranged on the guide plate or the guide frame.

10. The automatic fuel gun arranged under the unmanned helicopter of claim 1, wherein the fuel gun driving frame above the base plate is provided with transparent housings on three sides respectively, and the fuel pipe of the fuel gun is connected with the fuel gun through the side surface of the transparent housing or under the base plate; the battery and the controller are arranged on the bottom plate in the transparent housing, the controller is a PLC (programmable logic controller) or an industrial computer, the controller is also connected with a display, and the display is hung and mounted below the top of the driving frame of the oil gun; the oil filling pipe of the oil filling gun is provided with a tensioner at one side of the oil filling machine or is hung with a counterweight.